
(define (problem roverprob4213)
        (:domain rover)
        (:objects general - lander colour - mode high_res - mode low_res - mode
         rover0 - rover rover0store - store waypoint0 - waypoint waypoint1 -
         waypoint waypoint2 - waypoint waypoint3 - waypoint camera0 - camera
         camera1 - camera objective0 - objective objective1 - objective)
        (:init (visible waypoint0 waypoint1) (visible waypoint1 waypoint0)
         (visible waypoint1 waypoint2) (visible waypoint2 waypoint1)
         (visible waypoint1 waypoint3) (visible waypoint3 waypoint1)
         (visible waypoint2 waypoint0) (visible waypoint0 waypoint2)
         (visible waypoint2 waypoint3) (visible waypoint3 waypoint2)
         (visible waypoint3 waypoint0) (visible waypoint0 waypoint3)
         (at_soil_sample waypoint0) (at_rock_sample waypoint0)
         (at_lander general waypoint1) (channel_free general)
         (at rover0 waypoint0) (available rover0) (store_of rover0store rover0)
         (empty rover0store) (equipped_for_soil_analysis rover0)
         (equipped_for_rock_analysis rover0) (equipped_for_imaging rover0)
         (can_traverse rover0 waypoint0 waypoint1)
         (can_traverse rover0 waypoint1 waypoint0)
         (can_traverse rover0 waypoint0 waypoint2)
         (can_traverse rover0 waypoint2 waypoint0)
         (can_traverse rover0 waypoint0 waypoint3)
         (can_traverse rover0 waypoint3 waypoint0) (on_board camera0 rover0)
         (calibration_target camera0 objective0) (supports camera0 colour)
         (supports camera0 high_res) (supports camera0 low_res)
         (on_board camera1 rover0) (calibration_target camera1 objective1)
         (supports camera1 high_res) (visible_from objective0 waypoint0)
         (visible_from objective1 waypoint0)
         (visible_from objective1 waypoint1)
         (visible_from objective1 waypoint2))
        (:goal
         (and (communicated_soil_data waypoint0)
              (communicated_rock_data waypoint0)
              (communicated_image_data objective1 low_res)))
        (:constraints
         (and (preference a0 (always (at rover0 waypoint0)))
              (preference e0 (sometime (at rover0 waypoint3)))
              (preference e1 (sometime (at rover0 waypoint2)))
              (preference e2 (sometime (calibrated camera0 rover0)))
              (preference o0 (at-most-once (empty rover0store)))
              (preference o1 (at-most-once (full rover0store)))
              (preference sb1
               (sometime-before (have_soil_analysis rover0 waypoint0)
                (have_rock_analysis rover0 waypoint0)))
              (preference sb2
               (sometime-before (have_soil_analysis rover0 waypoint0)
                (calibrated camera0 rover0)))
              (preference sb3
               (sometime-before (have_soil_analysis rover0 waypoint0)
                (have_image rover0 objective1 low_res)))
              (preference sb5
               (sometime-before (have_rock_analysis rover0 waypoint0)
                (have_soil_analysis rover0 waypoint0)))
              (preference sb7
               (sometime-before (have_rock_analysis rover0 waypoint0)
                (have_image rover0 objective1 low_res)))
              (preference sb8
               (sometime-before (have_image rover0 objective1 low_res)
                (full rover0store)))
              (preference sb9
               (sometime-before (have_image rover0 objective1 low_res)
                (have_soil_analysis rover0 waypoint0)))
              (preference sb10
               (sometime-before (have_image rover0 objective1 low_res)
                (have_rock_analysis rover0 waypoint0)))))
        (:metric minimize
         (+ (* (is-violated sb10) 6.22222)
            (* (is-violated sb9) 5.44444)
            (* (is-violated sb8) 7)
            (* (is-violated sb7) 5.44444)
            (* (is-violated sb5) 5.44444)
            (* (is-violated sb3) 6.22222)
            (* (is-violated sb2) 5.44444)
            (* (is-violated sb1) 6.22222)
            (* (is-violated o1) 5.44444)
            (* (is-violated o0) 5.44444)
            (* (is-violated e2) 5.44444)
            (* (is-violated e1) 5.44444)
            (* (is-violated e0) 8.55556)
            (* (is-violated a0) 5.44444)
	)))
